include "my_backpack_2d.lua"
 
TRAJECTORY_BUILDER.pure_localization = true
POSE_GRAPH.optimize_every_n_nodes = 20


-- fast localization
MAP_BUILDER.num_background_threads = 4
POSE_GRAPH.constraint_builder.sampling_ratio = 0.1
POSE_GRAPH.global_sampling_ratio = 0.002
POSE_GRAPH.max_num_final_iterations = 1

return options